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robotology / cer

Contains SW specific to the R1 robots
GNU General Public License v2.0
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Make tripod plugin great again #97

Closed barbalberto closed 5 years ago

barbalberto commented 5 years ago

This patch makes the gazebo tripod plugin to use ipopt for inverse kiematic. It is experimental, so it must be enabled by settng the GAZEBO_TRIPOD_USES_IKIN in the cmake